aloha_sim_pick_colored_cube_image

该数据集是使用LeRobot创建的，主要用于机器人技术领域。数据集包含120个episodes，42000帧，3个任务，帧率为50fps。数据集的特征包括观察图像（480x640x3）、状态（14个浮点数，代表左右手臂的各个关节和夹持器）、动作（14个浮点数，代表左右手臂的各个关节和夹持器）、时间戳、帧索引、episode索引、索引和任务索引。数据集的许可证为apache-2.0。

This dataset was created using LeRobot, and is primarily designed for research and applications in the field of robotics. It contains 120 episodes, 42,000 frames, 3 distinct tasks, with a frame rate of 50 fps. The dataset includes the following features: observation images with a resolution of 480×640×3, state vectors (14 floating-point numbers representing each joint and gripper of the left and right arms), action vectors (14 floating-point numbers representing each joint and gripper of the left and right arms), timestamps, frame indices, episode indices, indices, and task indices. The license governing this dataset is Apache-2.0.

原始信息汇总

数据集概述

基本信息

• 名称: aloha_sim_pick_colored_cube_image
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot, aloha-lang, sim_transfer_cube_scripted_image

数据集结构

• 总集数: 120
• 总帧数: 42000
• 总任务数: 3
• 总视频数: 0
• 总块数: 1
• 块大小: 1000
• 帧率: 50 FPS
• 数据格式: Parquet
• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征描述

1. observation.images.top

   • 类型: 图像
   • 形状: [480, 640, 3]
   • 维度名称: height, width, channel

2. observation.state

   • 类型: float32
   • 形状: [14]
   • 维度名称:
     • 左侧电机: left_waist, left_shoulder, left_elbow, left_forearm_roll, left_wrist_angle, left_wrist_rotate, left_gripper
     • 右侧电机: right_waist, right_shoulder, right_elbow, right_forearm_roll, right_wrist_angle, right_wrist_rotate, right_gripper

3. action

   • 类型: float32
   • 形状: [14]
   • 维度名称: 同 observation.state

4. timestamp

   • 类型: float32
   • 形状: [1]

5. frame_index

   • 类型: int64
   • 形状: [1]

6. episode_index

   • 类型: int64
   • 形状: [1]

7. index

   • 类型: int64
   • 形状: [1]

8. task_index

   • 类型: int64
   • 形状: [1]

其他信息

• 代码库版本: v2.1
• 机器人类型: aloha
• 训练集划分: 0:120

引用信息

• BibTeX: [More Information Needed]